Re: Odometry Features vs Visual Words

Posted by g.bartoli on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Odometry-Features-vs-Visual-Words-tp706p718.html

Ok, thanks for the explanation!

I do not know if it's possible because these processes live in different modules, but for further optimization maybe it would be useful to have a flag in Preferences (independent from Re-extract Features in Loop Closure Detection) to set an unique detector/descriptor combination for both Visual Word and Odometry (like in your small space tutorial setup with GFTT+BRIEF) in order to perform an unique pass of features extraction and filter them with two different settings (max number and depth). I think the performance in this case would greatly benefit (almost double speed).